Steerable laser probe

ABSTRACT

A steerable laser probe may include a handle, and inner bore of the handle, an actuation structure of the handle, a housing tube, and an optic fiber disposed within the inner bore of the handle and the housing tube. The housing tube may include a first housing tube portion having a first stiffness and a second housing tube portion having a second stiffness. The second stiffness may be greater than the first stiffness. A surgeon may aim the steerable laser probe by varying a rotational position of the handle and an amount of compression of the actuation structure.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of prior application Ser. No.13/767,919, filed Feb. 15, 2013.

FIELD OF THE INVENTION

The present disclosure relates to a surgical instrument, and, moreparticularly, to a steerable laser probe.

BACKGROUND OF THE INVENTION

A wide variety of ophthalmic procedures require a laser energy source.For example, ophthalmic surgeons may use laser photocoagulation to treatproliferative retinopathy. Proliferative retinopathy is a conditioncharacterized by the development of abnormal blood vessels in the retinathat grow into the vitreous humor. Ophthalmic surgeons may treat thiscondition by energizing a laser to cauterize portions of the retina toprevent the abnormal blood vessels from growing and hemorrhaging.

In order to increase the chances of a successful laser photocoagulationprocedure, it is important that a surgeon is able aim the laser at aplurality of targets within the eye, e.g., by guiding or moving thelaser from a first target to a second target within the eye. It is alsoimportant that the surgeon is able to easily control a movement of thelaser. For example, the surgeon must be able to easily direct a laserbeam by steering the beam to a first position aimed at a first target,guide the laser beam from the first position to a second position aimedat a second target, and hold the laser beam in the second position.Accordingly, there is a need for a surgical laser probe that can beeasily guided to a plurality of targets within the eye.

BRIEF SUMMARY OF THE INVENTION

The present disclosure provides a steerable laser probe. In one or moreembodiments, a steerable laser probe may comprise a handle, and innerbore of the handle, an actuation structure of the handle, a housingtube, and an optic fiber disposed within the inner bore of the handleand the housing tube. Illustratively, the housing tube may comprise afirst housing tube portion having a first stiffness and a second housingtube portion having a second stiffness. In one or more embodiments, thesecond stiffness may be greater than the first stiffness.

Illustratively, a compression of the actuation structure may beconfigured to gradually curve the housing tube. In one or moreembodiments, a gradual curving of the housing tube may be configured togradually curve the optic fiber. Illustratively, a decompression of theactuation structure may be configured to gradually straighten thehousing tube. In one or more embodiments, a gradual straightening of thehousing tube may be configured to gradually straighten the optic fiber.

Illustratively, a decompression of the actuation structure may beconfigured to gradually curve the housing tube. In one or moreembodiments, a gradual curving of the housing tube may be configured togradually curve the optic fiber. Illustratively, a compression of theactuation structure may be configured to gradually straighten thehousing tube. In one or more embodiments, a gradual straightening of thehousing tube may be configured to gradually straighten the optic fiber.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and further advantages of the present invention may be betterunderstood by referring to the following description in conjunction withthe accompanying drawings in which like reference numerals indicateidentical or functionally similar elements:

FIGS. 1A and 1B are schematic diagrams illustrating a handle;

FIGS. 2A, 2B, and 2C are schematic diagrams illustrating a housing tube;

FIG. 3 is a schematic diagram illustrating an exploded view of asteerable laser probe assembly;

FIGS. 4A, 4B, 4C, 4D, and 4E illustrate a gradual curving of an opticfiber;

FIGS. 5A, 5B, 5C, 5D, and 5E illustrate a gradual straightening of anoptic fiber;

FIGS. 6A and 6B are schematic diagrams illustrating a handle;

FIG. 7 is a schematic diagram illustrating an exploded view of asteerable laser probe assembly;

FIGS. 8A, 8B, 8C, 8D, and 8E illustrate a gradual curving of an opticfiber;

FIGS. 9A, 9B, 9C, 9D, and 9E illustrate a gradual straightening of anoptic fiber;

FIGS. 10A and 10B are schematic diagrams illustrating a handle;

FIG. 11 is a schematic diagram illustrating a housing tube;

FIG. 12 is a schematic diagram illustrating an exploded view of asteerable laser probe assembly;

FIGS. 13A, 13B, 13C, 13D, and 13E illustrate a gradual curving of anoptic fiber;

FIGS. 14A, 14B, 14C, 14D, and 14E illustrate a gradual straightening ofan optic fiber.

DETAILED DESCRIPTION OF AN ILLUSTRATIVE EMBODIMENT

FIGS. 1A and 1B are schematic diagrams illustrating a handle 100. FIG.1A illustrates a top view of handle 100. In one or more embodiments,handle 100 may comprise a handle distal end 101, a handle proximal end102, a handle base 110, an actuation structure 120, an actuation ring130, an actuation mechanism housing 135, a platform base 140, anactuation mechanism guide 145, and a housing tube platform 150.Illustratively, actuation structure 120 may comprise an actuationstructure distal end 121 and an actuation structure proximal end 122. Inone or more embodiments, actuation structure 120 may comprise aplurality of actuation arms 125. Illustratively, each actuation arm 125may comprise at least one extension mechanism 126. In one or moreembodiments, actuation structure 120 may comprise a shape memorymaterial configured to project actuation structure distal end 121 afirst distance from actuation structure proximal end 122, e.g., whenactuation structure 120 is fully decompressed. Illustratively, actuationstructure 120 may comprise a shape memory material configured to projectactuation structure distal end 121 a second distance from actuationstructure proximal end 122, e.g., when actuation structure 120 is fullycompressed. In one or more embodiments, the second distance fromactuation structure proximal end 122 may be greater than the firstdistance from actuation structure proximal end 122. Actuation structure120 may be manufactured from any suitable material, e.g., polymers,metals, metal alloys, etc., or from any combination of suitablematerials.

Illustratively, actuation structure 120 may be compressed by anapplication of a compressive force to actuation structure 120. In one ormore embodiments, actuation structure 120 may be compressed by anapplication of one or more compressive forces located at one or morelocations around an outer perimeter of actuation structure 120.Illustratively, the one or more locations may comprise any of aplurality of locations around the outer perimeter of actuation structure120. For example, a surgeon may compress actuation structure 120 bysqueezing actuation structure 120. Illustratively, the surgeon maycompress actuation structure 120 by squeezing actuation structure 120 atany particular location of a plurality of locations around an outerperimeter of actuation structure 120. For example, a surgeon may rotatehandle 100 and compress actuation structure 120 from any rotationalposition of a plurality of rotational positions of handle 100.

In one or more embodiments, actuation structure 120 may be compressed byan application of a compressive force to any one or more of theplurality of actuation arms 125. Illustratively, each actuation arm 125may be configured to actuate independently. In one or more embodiments,each actuation arm 125 may be connected to one or more of the pluralityof actuation arms 125 wherein an actuation of a particular actuation arm125 may be configured to actuate every actuation arm 125 of theplurality of actuation arms 125. Illustratively, one or more actuationarms 125 may be configured to actuate in pairs or groups. For example,an actuation of a first actuation arm 125 may be configured to actuate asecond actuation arm 125.

In one or more embodiments, a compression of actuation structure 120,e.g., due to an application of a compressive force to a particularactuation arm 125, may be configured to actuate the particular actuationarm 125. Illustratively, an actuation of the particular actuation arm125 may be configured to actuate every actuation arm 125 of theplurality of actuation arms 125. In one or more embodiments, anapplication of a compressive force to a particular actuation arm 125 maybe configured to extend at least one extension mechanism 126 of theparticular actuation arm 125. Illustratively, a particular actuation arm125 may be configured to extend a first length from handle base 110. Anextension of an extension mechanism 126 of the particular actuation arm125, e.g., due to an application of a compressive force to theparticular actuation arm 125, may be configured to extend the particularactuation arm 125 a second length from handle base 110. Illustratively,the second length from handle base 110 may be greater than the firstlength from handle base 110.

In one or more embodiments, actuation ring 130 may be fixed to actuationstructure distal end 121. Illustratively, a compression of actuationstructure 120 may be configured to gradually extend actuation ring 130from handle base 110. For example, actuation ring 130 may be configuredto extend a first distance from actuation structure proximal end 122,e.g., when actuation structure 120 is fully decompressed. Actuation ring130 may be configured to extend a second distance from actuationstructure proximal end 122, e.g., due to a compression of actuationstructure 120. Illustratively, the second distance from actuationstructure proximal end 122 may be greater than the first distance fromactuation structure proximal end 122.

FIG. 1B illustrates a cross-sectional view of handle 100. In one or moreembodiments, handle 100 may comprise an inner bore 160, an inner boreproximal taper 161, an inner bore distal chamber 162, an optic fiberproximal guide 163, a wire housing 164, and an optic fiber distal guide165. Handle 100 may be manufactured from any suitable material, e.g.,polymers, metals, metal alloys, etc., or from any combination ofsuitable materials.

FIGS. 2A, 2B, and 2C are schematic diagrams illustrating a housing tube200. In one or more embodiments, housing tube 200 may comprise a housingtube distal end 201 and a housing tube proximal end 202. Housing tube200 may be manufactured from any suitable material, e.g., polymers,metals, metal alloys, etc., or from any combination of suitablematerials. Illustratively, housing tube 200 may be manufactured atdimensions configured to perform microsurgical procedures, e.g.,ophthalmic surgical procedures.

FIG. 2A illustrates a housing tube 200 oriented to illustrate a firsthousing tube portion 220. Illustratively, first housing tube portion 220may have a first stiffness. FIG. 2B illustrates a housing tube 200oriented to illustrate a second housing tube portion 230.Illustratively, second housing tube portion 230 may have a secondstiffness. In one or more embodiments, the second stiffness may begreater than the first stiffness. Illustratively, first housing tubeportion 220 may comprise a first material having a first stiffness. Inone or more embodiments, second housing tube portion 230 may comprise asecond material having a second stiffness. Illustratively, the secondstiffness may be greater than the first stiffness.

In one or more embodiments, housing tube 200 may comprise a non-uniforminner diameter or a non-uniform outer diameter, e.g., to vary astiffness of one or more portions of housing tube 200. Illustratively, afirst housing tube portion 220 may comprise a first inner diameter ofhousing tube 200 and a second housing tube portion 230 may comprise asecond inner diameter of housing tube 200. In one or more embodiments,the first inner diameter of housing tube 200 may be larger than thesecond inner diameter of housing tube 200. Illustratively, a firsthousing tube portion 220 may comprise a first outer diameter of housingtube 200 and a second housing tube portion 230 may comprise a secondouter diameter of housing tube 200. In one or more embodiments, thefirst outer diameter of housing tube 200 may be smaller than the secondouter diameter of housing tube 200.

In one or more embodiments, first housing tube portion 220 may compriseone or more apertures configured to produce a first stiffness of firsthousing tube portion 220. Illustratively, second housing tube portion230 may comprise a solid portion of housing tube 200 having a secondstiffness. In one or more embodiments, the second stiffness may begreater than the first stiffness. Illustratively, first housing tubeportion 220 may comprise one or more apertures configured to produce afirst stiffness of first housing tube portion 220. In one or moreembodiments, second housing tube portion 230 may comprise one or moreapertures configured to produce a second stiffness of second housingtube portion 230. Illustratively, the second stiffness may be greaterthan the first stiffness.

In one or more embodiments, first housing tube portion 220 may comprisea plurality of slits configured to separate one or more solid portionsof housing tube 200. Illustratively, a plurality of slits may be cut,e.g., laser cut, into first housing tube portion 220. In one or moreembodiments, first housing tube portion 220 may comprise a plurality ofslits configured to minimize a force of friction between housing tube200 and a cannula, e.g., as housing tube 200 is inserted into thecannula or as housing tube 200 is extracted from the cannula. Forexample, each slit of the plurality of slits may comprise one or morearches configured to minimize a force of friction between housing tube200 and a cannula.

FIG. 2C illustrates an angled view of housing tube 200. Illustratively,an optic fiber 250 may be disposed within housing tube 200. In one ormore embodiments, optic fiber 250 may be disposed within housing tube200 wherein an optic fiber distal end 251 is adjacent to housing tubedistal end 201. Illustratively, optic fiber 250 may be disposed withinhousing tube 200 wherein optic fiber 250 may be adjacent to a portion offirst housing tube portion 220. In one or more embodiments, a portion ofoptic fiber 250 may be fixed to an inner portion of housing tube 200,e.g., by a biocompatible adhesive or by any suitable fixation means.

Illustratively, a wire 240 may be disposed within housing tube 200. Inone or more embodiments, wire 240 may be disposed within housing tube200 wherein a wire distal end 241 may be adjacent to housing tube distalend 201. Illustratively, wire 240 may be disposed within housing tube200 wherein wire 240 may be adjacent to a portion of first housing tubeportion 220. In one or more embodiments, a portion of wire 240 may befixed to an inner portion of housing tube 200, e.g., by a biocompatibleadhesive or by any suitable fixation means.

FIG. 3 is a schematic diagram illustrating an exploded view of asteerable laser probe assembly 300. In one or more embodiments,steerable laser probe assembly 300 may comprise a handle 100, a housingtube 200 having a housing tube distal end 201 and a housing tubeproximal end 202, an optic fiber 250 having an optic fiber distal end251 and an optic fiber proximal end 252, a wire 240 having a wire distalend 241, a wire proximal end 242, an actuation mechanism 310, and alight source interface 320. Illustratively, light source interface 320may be configured to interface with optic fiber 250, e.g., at opticfiber proximal end 252. In one or more embodiments, light sourceinterface 320 may comprise a standard light source connecter, e.g., anSMA connector.

Illustratively, housing tube 200 may be fixed to housing tube platform150, e.g., housing tube proximal end 202 may be fixed to handle proximalend 101. In one or more embodiments, housing tube 200 may be fixed tohousing tube platform 150, e.g., by an adhesive or by any suitablefixation means. Illustratively, a portion of housing tube 200 may bedisposed within optic fiber distal guide 165, e.g., housing tubeproximal end 202 may be disposed within optic fiber distal guide 165. Inone or more embodiments, a portion of housing tube 200 may be fixedwithin optic fiber distal guide 165, e.g., by an adhesive or by anysuitable fixation means.

Illustratively, optic fiber 250 may be disposed within inner bore 160,inner bore distal chamber 162, optic fiber proximal guide 163, opticfiber distal guide 165, and housing tube 200. In one or moreembodiments, optic fiber 250 may be disposed within housing tube 200wherein optic fiber distal end 251 is adjacent to housing tube distalend 201. Illustratively, a portion of optic fiber 250 may be fixed to aninner portion of housing tube 200, e.g., by an adhesive or by anysuitable fixation means.

In one or more embodiments, wire 240 may be disposed within wire housing164, optic fiber distal guide 165, and housing tube 200. Illustratively,wire 240 may be disposed within housing tube 200 wherein wire distal end241 is adjacent to housing tube distal end 201. In one or moreembodiments, a portion of wire 240 may be fixed to an inner portion ofhousing tube 200, e.g., by an adhesive or by any suitable fixationmeans. Illustratively, actuation mechanism 310 may be disposed withinactuation mechanism housing 135. In one or more embodiments, actuationmechanism 310 may be configured to fix a portion of wire 240, e.g., wireproximal end 242, in a position relative to actuation ring 130.Illustratively, a portion of actuation mechanism 310 may be disposedwithin wire housing 164. In one or more embodiments, actuation mechanism310 may comprise a set screw configured to firmly fix wire 240 in aposition relative to actuation ring 130, e.g., by a press fit or anyother suitable fixation means. Illustratively, a portion of wire 240,e.g., wire proximal end 242, may be fixed to actuation mechanism 310,e.g., by an adhesive or by any suitable fixation means.

In one or more embodiments, a decompression of actuation structure 120may be configured to actuate actuation ring 130, e.g., towards handleproximal end 102 and away from handle distal end 101. Illustratively, adecompression of actuation structure 120 may be configured to actuateactuation mechanism 310 along actuation mechanism guide 145, e.g.,towards handle proximal end 102 and away from handle distal end 101. Inone or more embodiments, a decompression of actuation structure 120 maybe configured to retract a portion of wire 240, e.g., wire proximal end242, relative to housing tube 200. Illustratively, a retraction of wire240 relative to housing tube 200 may be configured to cause wire 240 toapply a compressive force to a portion of housing tube 200, e.g., afirst housing tube portion 220. In one or more embodiments, anapplication of a compressive force to a portion of housing tube 200 maybe configured to cause housing tube 200 to curve. Illustratively, acurving of housing tube 200 may be configured to curve optic fiber 250.

In one or more embodiments, a compression of actuation structure 120 maybe configured to actuate actuation ring 130, e.g., away from handleproximal end 102 and towards handle distal end 101. Illustratively, acompression of actuation structure 120 may be configured to actuateactuation mechanism 310 along actuation mechanism guide 145, e.g., awayfrom handle proximal end 102 and towards handle distal end 101. In oneor more embodiments, a compression of actuation structure 120 may beconfigured to extend a portion of wire 240, e.g., wire proximal end 242,relative to housing tube 200. Illustratively, an extension of wire 240relative to housing tube 200 may be configured to cause wire 240 toreduce a compressive force applied to a portion of housing tube 200,e.g., a first housing tube portion 220. In one or more embodiments, areduction of a compressive force applied to a portion of housing tube200 may be configured to cause housing tube 200 to straighten.Illustratively, a straightening of housing tube 200 may be configured tostraighten optic fiber 250.

FIGS. 4A, 4B, 4C, 4D, and 4E illustrate a gradual curving of an opticfiber 250. FIG. 4A illustrates a straight optic fiber 400. In one ormore embodiments, optic fiber 250 may comprise a straight optic fiber400, e.g., when actuation ring 130 is fully extended relative to handlebase 110. Illustratively, optic fiber 250 may comprise a straight opticfiber 400, e.g., when wire 240 is fully extended relative to housingtube 200. In one or more embodiments, optic fiber 250 may comprise astraight optic fiber 400, e.g., when first housing tube portion 220 isfully decompressed. Illustratively, optic fiber 250 may comprise astraight optic fiber 400, e.g., when actuation structure 120 is fullycompressed. In one or more embodiments, a line tangent to optic fiberdistal end 251 may be parallel to a line tangent to housing tubeproximal end 202, e.g., when optic fiber 250 comprises a straight opticfiber 400.

FIG. 4B illustrates an optic fiber in a first curved position 410. Inone or more embodiments, a decompression of actuation structure 120 maybe configured to gradually curve optic fiber 250 from a straight opticfiber 400 to an optic fiber in a first curved position 410.Illustratively, a decompression of actuation structure 120 may beconfigured to gradually retract wire 240 relative to housing tube 200.In one or more embodiments, a gradual refraction of wire 240 relative tohousing tube 200 may be configured to cause wire 240 to apply acompressive force to a portion of housing tube 200, e.g., a firsthousing tube portion 220. Illustratively, an application of acompressive force to a portion of housing tube 200, e.g., a firsthousing tube portion 220, may be configured to cause housing tube 200 togradually curve. In one or more embodiments, a gradual curving ofhousing tube 200 may be configured to gradually curve optic fiber 250,e.g., from a straight optic fiber 400 to an optic fiber in a firstcurved position 410. Illustratively, a line tangent to optic fiberdistal end 251 may intersect a line tangent to housing tube proximal end202 at a first angle, e.g., when optic fiber 250 comprises an opticfiber in a first curved position 410. In one or more embodiments, thefirst angle may comprise any angle greater than zero degrees. Forexample, the first angle may comprise a 45 degree angle.

FIG. 4C illustrates an optic fiber in a second curved position 420. Inone or more embodiments, a decompression of actuation structure 120 maybe configured to gradually curve optic fiber 250 from an optic fiber ina first curved position 410 to an optic fiber in a second curvedposition 420. Illustratively, a decompression of actuation structure 120may be configured to gradually retract wire 240 relative to housing tube200. In one or more embodiments, a gradual retraction of wire 240relative to housing tube 200 may be configured to cause wire 240 toapply a compressive force to a portion of housing tube 200, e.g., afirst housing tube portion 220. Illustratively, an application of acompressive force to a portion of housing tube 200, e.g., a firsthousing tube portion 220, may be cons figured to cause housing tube 200to gradually curve. In one or more embodiments, a gradual curving ofhousing tube 200 may be configured to gradually curve optic fiber 250,e.g., from an optic fiber in a first curved position 410 to an opticfiber in a second curved position 420. Illustratively, a line tangent tooptic fiber distal end 251 may intersect a line tangent to housing tubeproximal end 202 at a second angle, e.g., when optic fiber 250 comprisesan optic fiber in a second curved position 420. In one or moreembodiments, the second angle may comprise any angle greater than thefirst angle. For example, the second angle may comprise a 90 degreeangle.

FIG. 4D illustrates an optic fiber in a third curved position 430. Inone or more embodiments, a decompression of actuation structure 120 maybe configured to gradually curve optic fiber 250 from an optic fiber ina second curved position 420 to an optic fiber in a third curvedposition 430. Illustratively, a decompression of actuation structure 120may be configured to gradually retract wire 240 relative to housing tube200. In one or more embodiments, a gradual retraction of wire 240relative to housing tube 200 may be configured to cause wire 240 toapply a compressive force to a portion of housing tube 200, e.g., afirst housing tube portion 220. Illustratively, an application of acompressive force to a portion of housing tube 200, e.g., a firsthousing tube portion 220, may be configured to cause housing tube 200 togradually curve. In one or more embodiments, a gradual curving ofhousing tube 200 may be configured to gradually curve optic fiber 250,e.g., from an optic fiber in a second curved position 420 to an opticfiber in a third curved position 430. Illustratively, a line tangent tooptic fiber distal end 251 may intersect a line tangent to housing tubeproximal end 202 at a third angle, e.g., when optic fiber 250 comprisesan optic fiber in a third curved position 430. In one or moreembodiments, the third angle may comprise any angle greater than thesecond angle. For example, the third angle may comprise a 135 degreeangle.

FIG. 4E illustrates an optic fiber in a fourth curved position 440. Inone or more embodiments, a decompression of actuation structure 120 maybe configured to gradually curve optic fiber 250 from an optic fiber ina third curved position 430 to an optic fiber in a fourth curvedposition 440. Illustratively, a decompression of actuation structure 120may be configured to gradually retract wire 240 relative to housing tube200. In one or more embodiments, a gradual retraction of wire 240relative to housing tube 200 may be configured to cause wire 240 toapply a compressive force to a portion of housing tube 200, e.g., afirst housing tube portion 220. Illustratively, an application of acompressive force to a portion of housing tube 200, e.g., a firsthousing tube portion 220, may be configured to cause housing tube 200 togradually curve. In one or more embodiments, a gradual curving ofhousing tube 200 may be configured to gradually curve optic fiber 250,e.g., from an optic fiber in a third curved position 430 to an opticfiber in a fourth curved position 440. Illustratively, a line tangent tooptic fiber distal end 251 may be parallel to a line tangent to housingtube proximal end 202, e.g., when optic fiber 250 comprises an opticfiber in a fourth curved position 440.

In one or more embodiments, one or more properties of a steerable laserprobe may be adjusted to attain one or more desired steerable laserprobe features. For example, a length that housing tube 200 extends fromhousing tube platform 150 may be adjusted to vary an amount ofdecompression of actuation structure 120 configured to curve housingtube 200 to a particular curved position. Illustratively, a length ofwire 240 may be adjusted to vary an amount of decompression of actuationstructure 120 configured to curve housing tube 200 to a particularcurved position. In one or more embodiments, a stiffness of firsthousing tube portion 220 or a stiffness of second housing tube portion230 may be adjusted to vary an amount of decompression of actuationstructure 120 configured to curve housing tube 200 to a particularcurved position. Illustratively, a material comprising first housingtube portion 220 or a material comprising second housing tube portion230 may be adjusted to vary an amount of decompression of actuationstructure 120 configured to curve housing tube 200 to a particularcurved position.

In one or more embodiments, a number of apertures in housing tube 200may be adjusted to vary an amount of decompression of actuationstructure 120 configured to curve housing tube 200 to a particularcurved position. Illustratively, a location of one or more apertures inhousing tube 200 may be adjusted to vary an amount of decompression ofactuation structure 120 configured to curve housing tube 200 to aparticular curved position. In one or more embodiments, a geometry ofone or more apertures in housing tube 200 may be adjusted to vary anamount of decompression of action structure 120 configured to curvehousing tube 200 to a particular curved position. Illustratively, ageometry of one or more apertures in housing tube 200 may be uniform,e.g., each aperture of the one or more apertures may have a samegeometry. In one or more embodiments, a geometry of one or moreapertures in housing tube 200 may be non-uniform, e.g., a first aperturein housing tube 200 may have a first geometry and a second aperture inhousing tube 200 may have a second geometry.

Illustratively, a distance that housing tube platform 150 extends fromhandle proximal end 102 may be adjusted to vary an amount ofdecompression of actuation structure 120 configured to curve housingtube 200 to a particular curved position. In one or more embodiments, ageometry of actuation structure 120 may be adjusted to vary an amount ofdecompression of actuation structure 120 configured to curve housingtube 200 to a particular curved position. Illustratively, one or morelocations within housing tube 200 wherein wire 240 may be fixed to aninner portion of housing tube 200 may be adjusted to vary an amount ofdecompression of actuation structure 120 configured to curve housingtube 200 to a particular curved position. In one or more embodiments, atleast a portion of optic fiber 250 may be enclosed in an optic fibersleeve configured to, e.g., protect optic fiber 250, vary a stiffness ofoptic fiber 250, vary an optical property of optic fiber 250, etc.

Illustratively, a stiffness of first housing tube portion 220 or astiffness of second housing tube portion 230 may be adjusted to vary abend radius of housing tube 200. In one or more embodiments, a stiffnessof first housing tube portion 220 or a stiffness of second housing tubeportion 230 may be adjusted to vary a radius of curvature of housingtube 200, e.g., when housing tube 200 is in a particular curvedposition. Illustratively, a number of apertures in housing tube 200 maybe adjusted to vary a bend radius of housing tube 200. In one or moreembodiments, a number of apertures in housing tube 200 may be adjustedto vary a radius of curvature of housing tube 200, e.g., when housingtube 200 is in a particular curved position. Illustratively, a locationor a geometry of one or more apertures in housing tube 200 may beadjusted to vary a bend radius of housing tube 200. In one or moreembodiments, a location or a geometry of one or more apertures inhousing tube 200 may be adjusted to vary a radius of curvature ofhousing tube 200, e.g., when housing tube 200 is in a particular curvedposition.

FIGS. 5A, 5B, 5C, 5D, and 5E illustrate a gradual straightening of anoptic fiber 250. FIG. 5A illustrates a fully curved optic fiber 500. Inone or more embodiments, optic fiber 250 may comprise a fully curvedoptic fiber 500, e.g., when actuation ring 130 is fully retractedrelative to handle base 110. Illustratively, optic fiber 250 maycomprise a fully curved optic fiber 500, e.g., when wire 240 is fullyretracted relative to housing tube 200. In one or more embodiments,optic fiber 250 may comprise a fully curved optic fiber 500, e.g., whenfirst housing tube portion 220 is fully compressed. Illustratively,optic fiber 250 may comprise a fully curved optic fiber 500, e.g., whenactuation structure 120 is fully decompressed. In one or moreembodiments, a line tangent to optic fiber distal end 251 may beparallel to a line tangent to housing tube proximal end 202, e.g., whenoptic fiber 250 comprises a fully curved optic fiber 500.

FIG. 5B illustrates an optic fiber in a first partially straightenedposition 510. In one or more embodiments, a compression of actuationstructure 120 may be configured to gradually straighten optic fiber 250from a fully curved optic fiber 500 to an optic fiber in a firstpartially straightened position 510. Illustratively, a compression ofactuation structure 120 may be configured to gradually extend wire 240relative to housing tube 200. In one or more embodiments, a gradualextension of wire 240 relative to housing tube 200 may be configured tocause wire 240 to reduce a compressive force applied to a portion ofhousing tube 200, e.g., a first housing tube portion 220.Illustratively, a reduction of a compressive force applied to a portionof housing tube 200, e.g., a first housing tube portion 220, may beconfigured to cause housing tube 200 to gradually straighten. In one ormore embodiments, a gradual straightening of housing tube 200 may beconfigured to gradually straighten optic fiber 250, e.g., from a fullycurved optic fiber 500 to an optic fiber in a first partiallystraightened position 510. Illustratively, a line tangent to optic fiberdistal end 251 may intersect a line tangent to housing tube proximal end202 at a first partially straightened angle, e.g., when optic fiber 250comprises an optic fiber in a first partially straightened position 510.In one or more embodiments, the first partially straightened angle maycomprise any angle less than 180 degrees. For example, the firstpartially straightened angle may comprise a 135 degree angle.

FIG. 5C illustrates an optic fiber in a second partially straightenedposition 520. In one or more embodiments, a compression of actuationstructure 120 may be configured to gradually straighten optic fiber 250from an optic fiber in a first partially straightened position 510 to anoptic fiber in a second partially straightened position 520.Illustratively, a compression of actuation structure 120 may beconfigured to gradually extend wire 240 relative to housing tube 200. Inone or more embodiments, a gradual extension of wire 240 relative tohousing tube 200 may be configured to cause wire 240 to reduce acompressive force applied to a portion of housing tube 200, e.g., afirst housing tube portion 220. Illustratively, a reduction of acompressive force applied to a portion of housing tube 200, e.g., afirst housing tube portion 220, may be configured to cause housing tube200 to gradually straighten. In one or more embodiments, a gradualstraightening of housing tube 200 may be configured to graduallystraighten optic fiber 250, e.g., from an optic fiber in a firstpartially straightened position 510 to an optic fiber in a secondpartially straightened position 520. Illustratively, a line tangent tooptic fiber distal end 251 may intersect a line tangent to housing tubeproximal end 202 at a second partially straightened angle, e.g., whenoptic fiber 250 comprises an optic fiber in a second partiallystraightened position 520. In one or more embodiments, the secondpartially straightened angle may comprise any angle less than the firstpartially straightened angle. For example, the second partiallystraightened angle may comprise a 90 degree angle.

FIG. 5D illustrates an optic fiber in a third partially straightenedposition 530. In one or more embodiments, a compression of actuationstructure 120 may be configured to gradually straighten optic fiber 250from an optic fiber in a second partially straightened position 520 toan optic fiber in a third partially straightened position 530.Illustratively, a compression of actuation structure 120 may beconfigured to gradually extend wire 240 relative to housing tube 200. Inone or more embodiments, a gradual extension of wire 240 relative tohousing tube 200 may be configured to cause wire 240 to reduce acompressive force applied to a portion of housing tube 200, e.g., afirst housing tube portion 220. Illustratively, a reduction of acompressive force applied to a portion of housing tube 200, e.g., afirst housing tube portion 220, may be configured to cause housing tube200 to gradually straighten. In one or more embodiments, a gradualstraightening of housing tube 200 may be configured to graduallystraighten optic fiber 250, e.g., from an optic fiber in a secondpartially straightened position 520 to an optic fiber in a thirdpartially straightened position 530. Illustratively, a line tangent tooptic fiber distal end 251 may intersect a line tangent to housing tubeproximal end 202 at a third partially straightened angle, e.g., whenoptic fiber 250 comprises an optic fiber in a third partiallystraightened position 530. In one or more embodiments, the thirdpartially straightened angle may comprise any angle less than the secondpartially straightened angle. For example, the third partiallystraightened angle may comprise a 45 degree angle.

FIG. 5E illustrates an optic fiber in a fully straightened position 540.In one or more embodiments, a compression of actuation structure 120 maybe configured to gradually straighten optic fiber 250 from an opticfiber in a third partially straightened position 530 to an optic fiberin a fully straightened position 540. Illustratively, a compression ofactuation structure 120 may be configured to gradually extend wire 240relative to housing tube 200. In one or more embodiments, a gradualextension of wire 240 relative to housing tube 200 may be configured tocause wire 240 to reduce a compressive force applied to a portion ofhousing tube 200, e.g., a first housing tube portion 220.Illustratively, a reduction of a compressive force applied to a portionof housing tube 200, e.g., a first housing tube portion 220, may beconfigured to cause housing tube 200 to gradually straighten. In one ormore embodiments, a gradual straightening of housing tube 200 may beconfigured to gradually straighten optic fiber 250, e.g., from an opticfiber in a third partially straightened position 530 to an optic fiberin a fully straightened position 540. Illustratively, a line tangent tooptic fiber distal end 251 may be parallel to a line tangent to housingtube proximal end 202, e.g., when optic fiber 250 comprises an opticfiber in a fully straightened position 540.

Illustratively, a surgeon may aim optic fiber distal end 251 at any of aplurality of targets within an eye, e.g., to perform a photocoagulationprocedure. In one or more embodiments, a surgeon may aim optic fiberdistal end 251 at any target within a particular transverse plane of theinner eye by, e.g., rotating handle 100 to orient housing tube 200 in anorientation configured to cause a curvature of housing tube 200 withinthe particular transverse plane of the inner eye and varying an amountof decompression of actuation structure 120. Illustratively, a surgeonmay aim optic fiber distal end 251 at any target within a particularsagittal plane of the inner eye by, e.g., rotating handle 100 to orienthousing tube 200 in an orientation configured to cause a curvature ofhousing tube 200 within the particular sagittal plane of the inner eyeand varying an amount of decompression of actuation structure 120. Inone or more embodiments, a surgeon may aim optic fiber distal end 251 atany target within a particular frontal plane of the inner eye by, e.g.,varying an amount of decompression of actuation structure 120 to orienta line tangent to optic fiber distal end 251 wherein the line tangent tooptic fiber distal end 251 is within the particular frontal plane of theinner eye and rotating handle 100. Illustratively, a surgeon may aimoptic fiber distal end 251 at any target located outside of theparticular transverse plane, the particular sagittal plane, and theparticular frontal plane of the inner eye, e.g., by varying a rotationalorientation of handle 100 and varying an amount of decompression ofactuation structure 120. In one or more embodiments, a surgeon may aimoptic fiber distal end 251 at any target of a plurality of targetswithin an eye, e.g., without increasing a length of a portion of asteerable laser probe within the eye. Illustratively, a surgeon may aimoptic fiber distal end 251 at any target of a plurality of targetswithin an eye, e.g., without decreasing a length of a portion of asteerable laser probe within the eye.

FIGS. 6A and 6B are schematic diagrams illustrating a handle 600. FIG.6A illustrates a top view of handle 600. In one or more embodiments,handle 600 may comprise a handle distal end 601, a handle proximal end602, a handle base 610, an actuation structure 620, a housing tubeplatform 630, and an actuation platform 640. Illustratively, actuationplatform 640 may comprise an actuation platform distal end 641 and anactuation platform proximal end 642. In one or more embodiments,actuation structure 620 may comprise a plurality of actuation arms 625.Illustratively, each actuation arm 625 may comprise at least oneextension mechanism 626. In one or more embodiments, each actuation arm625 may comprise an inverted actuation joint 627.

Illustratively, actuation structure 620 may be compressed, e.g., by anapplication of a compressive force to actuation structure 620. In one ormore embodiments, actuation structure 620 may be compressed by anapplication of one or more compressive forces located at one or morelocations around an outer perimeter of actuation structure 620.Illustratively, the one or more locations may comprise any of aplurality of locations around the outer perimeter of actuation structure620. For example, a surgeon may compress actuation structure 620, e.g.,by squeezing actuation structure 620. Illustratively, the surgeon maycompress actuation structure 620 by squeezing actuation structure 620 atany particular location of a plurality of locations around an outerperimeter of actuation structure 620. For example, a surgeon may rotatehandle 600 and compress actuation structure 620 from any rotationalposition of a plurality of rotational positions of handle 600.

In one or more embodiments, actuation structure 620 may be compressed byan application of a compressive force to any one or more of theplurality of actuation arms 625. Illustratively, each actuation arm 625may be configured to actuate independently. In one or more embodiments,each actuation arm 625 may be connected to one or more of the pluralityof actuation arms 625 wherein an actuation of a particular actuation arm625 may be configured to actuate every actuation arm 625 of theplurality of actuation arms 625. In one or more embodiments, acompression of actuation structure 620, e.g., due to an application of acompressive force to a particular actuation arm 625, may be configuredto actuate the particular actuation arm 625. Illustratively, anactuation of the particular actuation arm 625 may be configured toactuate every actuation arm 625 of the plurality of actuation arms 625.In one or more embodiments, an application of a compressive force to aparticular actuation arm 625 may be configured to extend at least oneextension mechanism 626 of the particular actuation arm 625.

Illustratively, an application of a compressive force to a particularactuation arm 625 may be configured to retract actuation platform 640relative to handle base 610. In one or more embodiments, as a particularactuation arm 625 is compressed, e.g., due to an application of acompressive force to the particular actuation arm 625, an invertedactuation joint 627 of the particular actuation arm 625 may beconfigured to gradually retract actuation platform 640 relative tohandle base 610. Illustratively, inverted actuation joint 627 may beconfigured to retract actuation platform 640 relative to handle base610, e.g., by transferring a compressive force applied to actuationstructure 620 to a force applied to actuation platform distal end 641.For example, when a compressive force is applied to a particularactuation arm 625, e.g., and the particular actuation arm 625 isextended by at least one extension mechanism 626 of the particularactuation arm 625, an inverted actuation joint 627 of the particularactuation arm 625 may be configured to retract actuation platform 640relative to handle base 610.

FIG. 6B illustrates a cross-sectional view of handle 600. In one or moreembodiments, handle 600 may comprise an inner bore 660, an inner boreproximal taper 661, an actuation mechanism housing 645, an inner boredistal chamber 662, a wire housing 663, an optic fiber proximal guide664, and an optic fiber guide 665. Handle 600 may be manufactured fromany suitable material, e.g., polymers, metals, metal alloys, etc., orfrom any combination of suitable materials.

FIG. 7 is a schematic diagram illustrating an exploded view of asteerable laser probe assembly 700. In one or more embodiments, asteerable laser probe assembly 700 may comprise a housing tube 200having a housing tube distal end 201, a housing tube proximal end 202, afirst housing tube portion 220, and a second housing tube portion 230; awire 240 having a wire distal end 241 and a wire proximal end 242; anoptic fiber 250 having an optic fiber distal end 251 and an optic fiberproximal end 252; a light source interface 320; and an actuationmechanism 710. Illustratively, light source interface 320 may beconfigured to interface with optic fiber 250, e.g., at optic fiberproximal end 252. In one or more embodiments, light source interface 320may comprise a standard light source connecter, e.g., an SMA connector.

Illustratively, housing tube 200 may be fixed to housing tube platform630, e.g., housing tube proximal end 202 may be fixed to housing tubeplatform 630. In one or more embodiments, housing tube 200 may be fixedto housing tube platform 630, e.g., by an adhesive or by any suitablefixation means. Illustratively, a portion of housing tube 200 may bedisposed within optic fiber guide 665, e.g., housing tube proximal end202 may be disposed within optic fiber guide 665. In one or moreembodiments, housing tube proximal end 202 may be fixed within opticfiber guide 665, e.g., by an adhesive or by any suitable fixation means.

Illustratively, optic fiber 250 may be disposed within inner bore 660,inner bore distal chamber 662, optic fiber proximal guide 664, opticfiber guide 665, and housing tube 200. In one or more embodiments, opticfiber 250 may be disposed within housing tube 200 wherein optic fiberdistal end 251 is adjacent to housing tube distal end 201.Illustratively, a portion of optic fiber 250 may be fixed to an innerportion of housing tube 200, e.g., by an adhesive or by any suitablefixation means.

In one or more embodiments, wire 240 may be disposed within wire housing663, optic fiber guide 665, and housing tube 200. Illustratively, wire240 may be disposed within housing tube 200 wherein wire distal end 241is adjacent to housing tube distal end 201. In one or more embodiments,a portion of wire 240 may be fixed to an inner portion of housing tube200, e.g., by an adhesive or by any suitable fixation means.Illustratively, actuation mechanism 710 may be disposed within actuationmechanism housing 645. In one or more embodiments, actuation mechanism710 may be configured to fix a portion of wire 240, e.g., wire proximalend 242, in a position relative to actuation platform 640.Illustratively, a portion of actuation mechanism 710 may be disposedwithin wire housing 663. In one or more embodiments, actuation mechanism710 may comprise a set screw configured to firmly fix wire 240 in aposition relative to actuation platform 640, e.g., by a press fit or anyother suitable fixation means. Illustratively, a portion of wire 240,e.g., wire proximal end 242, may be fixed to actuation mechanism 710,e.g., by an adhesive or by any suitable fixation means.

In one or more embodiments, a compression of actuation structure 620 maybe configured to actuate actuation platform 640, e.g., towards handleproximal end 602 and away from handle distal end 601. Illustratively, acompression of actuation structure 620 may be configured to retractactuation platform 640 relative to housing tube 200. In one or moreembodiments, a compression of actuation structure 620 may be configuredto retract wire 240 relative to housing tube 200. Illustratively, aretraction of wire 240 relative to housing tube 200 may be configured toapply a force to a portion of housing tube 200, e.g., first housing tubeportion 220. In one or more embodiments, an application of a force to aportion of housing tube 200 may be configured to compress a portion ofhousing tube 200. Illustratively, a compression of a portion of housingtube 200 may be configured to cause housing tube 200 to gradually curve.In one or more embodiments, a gradual curving of housing tube 200 may beconfigured to gradually curve optic fiber 250.

In one or more embodiments, a decompression of actuation structure 620may be configured to actuate actuation platform 640, e.g., towardshandle distal end 601 and away from handle proximal end 602.Illustratively, a decompression of actuation structure 620 may beconfigured to extend actuation platform 640 relative to housing tube200. In one or more embodiments, a decompression of actuation structure620 may be configured to extend wire 240 relative to housing tube 200.Illustratively, an extension of wire 240 relative to housing tube 200may be configured to reduce a force applied to a portion of housing tube200, e.g., first housing tube portion 220. In one or more embodiments, areduction of a force applied to a portion of housing tube 200 may beconfigured to decompress a portion of housing tube 200. Illustratively,a decompression of a portion of housing tube 200 may be configured tocause housing tube 200 to gradually straighten. In one or moreembodiments, a gradual straightening of housing tube 200 may beconfigured to gradually straighten optic fiber 250.

FIGS. 8A, 8B, 8C, 8D, and 8E illustrate a gradual curving of an opticfiber 250. FIG. 8A illustrates a straight optic fiber 800. In one ormore embodiments, optic fiber 250 may comprise a straight optic fiber800, e.g., when actuation platform 640 is fully extended relative tohandle base 610. Illustratively, optic fiber 250 may comprise a straightoptic fiber 800, e.g., when wire 240 is fully extended relative tohousing tube 200. In one or more embodiments, optic fiber 250 maycomprise a straight optic fiber 800, e.g., when first housing tubeportion 220 is fully decompressed. Illustratively, optic fiber 250 maycomprise a straight optic fiber 800, e.g., when actuation structure 620is fully decompressed. In one or more embodiments, a line tangent tooptic fiber distal end 251 may be parallel to a line tangent to housingtube proximal end 202, e.g., when optic fiber 250 comprises a straightoptic fiber 800.

FIG. 8B illustrates an optic fiber in a first curved position 810. Inone or more embodiments, a compression of actuation structure 620 may beconfigured to gradually curve optic fiber 250 from a straight opticfiber 800 to an optic fiber in a first curved position 810.Illustratively, a compression of actuation structure 620 may beconfigured to gradually retract wire 240 relative to housing tube 200.In one or more embodiments, a gradual retraction of wire 240 relative tohousing tube 200 may be configured to cause wire 240 to apply acompressive force to a portion of housing tube 200, e.g., a firsthousing tube portion 220. Illustratively, an application of acompressive force to a portion of housing tube 200, e.g., a firsthousing tube portion 220, may be configured to cause housing tube 200 togradually curve. In one or more embodiments, a gradual curving ofhousing tube 200 may be configured to gradually curve optic fiber 250,e.g., from a straight optic fiber 800 to an optic fiber in a firstcurved position 810. Illustratively, a line tangent to optic fiberdistal end 251 may intersect a line tangent to housing tube proximal end202 at a first angle, e.g., when optic fiber 250 comprises an opticfiber in a first curved position 810. In one or more embodiments, thefirst angle may comprise any angle greater than zero degrees. Forexample, the first angle may comprise a 45 degree angle.

FIG. 8C illustrates an optic fiber in a second curved position 820. Inone or more embodiments, a compression of actuation structure 620 may beconfigured to gradually curve optic fiber 250 from an optic fiber in afirst curved position 810 to an optic fiber in a second curved position820. Illustratively, a compression of actuation structure 620 may beconfigured to gradually retract wire 240 relative to housing tube 200.In one or more embodiments, a gradual retraction of wire 240 relative tohousing tube 200 may be configured to cause wire 240 to apply acompressive force to a portion of housing tube 200, e.g., a firsthousing tube portion 220. Illustratively, an application of acompressive force to a portion of housing tube 200, e.g., a firsthousing tube portion 220, may be configured to cause housing tube 200 togradually curve. In one or more embodiments, a gradual curving ofhousing tube 200 may be configured to gradually curve optic fiber 250,e.g., from an optic fiber in a first curved position 810 to an opticfiber in a second curved position 820. Illustratively, a line tangent tooptic fiber distal end 251 may intersect a line tangent to housing tubeproximal end 202 at a second angle, e.g., when optic fiber 250 comprisesan optic fiber in a second curved position 820. In one or moreembodiments, the second angle may be any angle greater than the firstangle. For example, the second angle may comprise a 90 degree angle.

FIG. 8D illustrates an optic fiber in a third curved position 830. Inone or more embodiments, a compression of actuation structure 620 may beconfigured to gradually curve optic fiber 250 from an optic fiber in asecond curved position 820 to an optic fiber in a third curved position830. Illustratively, a compression of actuation structure 620 may beconfigured to gradually retract wire 240 relative to housing tube 200.In one or more embodiments, a gradual retraction of wire 240 relative tohousing tube 200 may be configured to cause wire 240 to apply acompressive force to a portion of housing tube 200, e.g., a firsthousing tube portion 220. Illustratively, an application of acompressive force to a portion of housing tube 200, e.g., a firsthousing tube portion 220, may be configured to cause housing tube 200 togradually curve. In one or more embodiments, a gradual curving ofhousing tube 200 may be configured to gradually curve optic fiber 250,e.g., from an optic fiber in a second curved position 820 to an opticfiber in a third curved position 830. Illustratively, a line tangent tooptic fiber distal end 251 may intersect a line tangent to housing tubeproximal end 202 at a third angle, e.g., when optic fiber 250 comprisesan optic fiber in a third curved position 830. In one or moreembodiments, the third angle may be any angle greater than the secondangle. For example, the third angle may comprise a 135 degree angle.

FIG. 8E illustrates an optic fiber in a fourth curved position 840. Inone or more embodiments, a compression of actuation structure 620 may beconfigured to gradually curve optic fiber 250 from an optic fiber in athird curved position 830 to an optic fiber in a fourth curved position840. Illustratively, a compression of actuation structure 620 may beconfigured to gradually retract wire 240 relative to housing tube 200.In one or more embodiments, a gradual retraction of wire 240 relative tohousing tube 200 may be configured to cause wire 240 to apply acompressive force to a portion of housing tube 200, e.g., a firsthousing tube portion 220. Illustratively, an application of acompressive force to a portion of housing tube 200, e.g., a firsthousing tube portion 220, may be configured to cause housing tube 200 togradually curve. In one or more embodiments, a gradual curving ofhousing tube 200 may be configured to gradually curve optic fiber 250,e.g., from an optic fiber in a third curved position 830 to an opticfiber in a fourth curved position 840. Illustratively, a line tangent tooptic fiber distal end 251 may be parallel a line tangent to housingtube proximal end 202, e.g., when optic fiber 250 comprises an opticfiber in a fourth curved position 840.

In one or more embodiments, one or more properties of a steerable laserprobe may be adjusted to attain one or more desired steerable laserprobe features. For example, a length that housing tube 200 extends fromhousing tube platform 630 may be adjusted to vary an amount ofcompression of actuation structure 620 configured to curve housing tube200 to a particular curved position. Illustratively, a length of wire240 may be adjusted to vary an amount of compression of actuationstructure 620 configured to curve housing tube 200 to a particularcurved position. In one or more embodiments, a stiffness of firsthousing tube portion 220 or a stiffness of second housing tube portion230 may be adjusted to vary an amount of compression of actuationstructure 620 configured to curve housing tube 200 to a particularcurved position. Illustratively, a material comprising first housingtube portion 220 or a material comprising second housing tube portion230 may be adjusted to vary an amount of compression of actuationstructure 620 configured to curve housing tube 200 to a particularcurved position.

In one or more embodiments, a number of apertures in housing tube 200may be adjusted to vary an amount of compression of actuation structure620 configured to curve housing tube 200 to a particular curvedposition. Illustratively, a location of one or more apertures in housingtube 200 may be adjusted to vary an amount of compression of actuationstructure 620 configured to curve housing tube 200 to a particularcurved position. In one or more embodiments, a geometry of one or moreapertures in housing tube 200 may be adjusted to vary an amount ofcompression of action structure 620 configured to curve housing tube 200to a particular curved position. Illustratively, a geometry of one ormore apertures in housing tube 200 may be uniform, e.g., each apertureof the one or more apertures may have a same geometry. In one or moreembodiments, a geometry of one or more apertures in housing tube 200 maybe non-uniform, e.g., a first aperture in housing tube 200 may have afirst geometry and a second aperture in housing tube 200 may have asecond geometry.

Illustratively, a distance that housing tube platform 630 extends fromhandle proximal end 602 may be adjusted to vary an amount of compressionof actuation structure 620 configured to curve housing tube 200 to aparticular curved position. In one or more embodiments, a geometry ofactuation structure 620 may be adjusted to vary an amount of compressionof actuation structure 620 configured to curve housing tube 200 to aparticular curved position. Illustratively, one or more locations withinhousing tube 200 wherein wire 240 may be fixed to an inner portion ofhousing tube 200 may be adjusted to vary an amount of compression ofactuation structure 620 configured to curve housing tube 200 to aparticular curved position. In one or more embodiments, at least aportion of optic fiber 250 may be enclosed in an optic fiber sleeveconfigured to, e.g., protect optic fiber 250, vary a stiffness of opticfiber 250, vary an optical property of optic fiber 250, etc.

Illustratively, a stiffness of first housing tube portion 220 or astiffness of second housing tube portion 230 may be adjusted to vary abend radius of housing tube 200. In one or more embodiments, a stiffnessof first housing tube portion 220 or a stiffness of second housing tubeportion 230 may be adjusted to vary a radius of curvature of housingtube 200, e.g., when housing tube 200 is in a particular curvedposition. Illustratively, a number of apertures in housing tube 200 maybe adjusted to vary a bend radius of housing tube 200. In one or moreembodiments, a number of apertures in housing tube 200 may be adjustedto vary a radius of curvature of housing tube 200, e.g., when housingtube 200 is in a particular curved position. Illustratively, a locationor a geometry of one or more apertures in housing tube 200 may beadjusted to vary a bend radius of housing tube 200. In one or moreembodiments, a location or a geometry of one or more apertures inhousing tube 200 may be adjusted to vary a radius of curvature ofhousing tube 200, e.g., when housing tube 200 is in a particular curvedposition.

FIGS. 9A, 9B, 9C, 9D, and 9E illustrate a gradual straightening of anoptic fiber 250. FIG. 9A illustrates a fully curved optic fiber 900. Inone or more embodiments, optic fiber 250 may comprise a fully curvedoptic fiber 900, e.g., when actuation platform 640 is fully retractedrelative to handle base 610. Illustratively, optic fiber 250 maycomprise a fully curved optic fiber 900, e.g., when wire 240 is fullyretracted relative to housing tube 200. In one or more embodiments,optic fiber 250 may comprise a fully curved optic fiber 900, e.g., whenfirst housing tube portion 220 is fully compressed. Illustratively,optic fiber 250 may comprise a fully curved optic fiber 900, e.g., whenactuation structure 620 is fully compressed. In one or more embodiments,a line tangent to optic fiber distal end 251 may be parallel to a linetangent to housing tube proximal end 202, e.g., when optic fiber 250comprises a fully curved optic fiber 900.

FIG. 9B illustrates an optic fiber in a first partially straightenedposition 910. In one or more embodiments, a decompression of actuationstructure 620 may be configured to gradually straighten optic fiber 250from a fully curved optic fiber 900 to an optic fiber in a firstpartially straightened position 910. Illustratively, a decompression ofactuation structure 620 may be configured to gradually extend wire 240relative to housing tube 200. In one or more embodiments, a gradualextension of wire 240 relative to housing tube 200 may be configured tocause wire 240 to reduce a compressive force applied to a portion ofhousing tube 200, e.g., a first housing tube portion 220.Illustratively, a reduction of a compressive force applied to a portionof housing tube 200, e.g., a first housing tube portion 220, may beconfigured to cause housing tube 200 to gradually straighten. In one ormore embodiments, a gradual straightening of housing tube 200 may beconfigured to gradually straighten optic fiber 250, e.g., from a fullycurved optic fiber 900 to an optic fiber in a first partiallystraightened position 910. Illustratively, a line tangent to optic fiberdistal end 251 may intersect a line tangent to housing tube proximal end202 at a first partially straightened angle, e.g., when optic fiber 250comprises an optic fiber in a first partially straightened position 910.In one or more embodiments, the first partially straightened angle maycomprise any angle less than 180 degrees. For example, the firstpartially straightened angle may comprise a 135 degree angle.

FIG. 9C illustrates an optic fiber in a second partially straightenedposition 920. In one or more embodiments, a decompression of actuationstructure 620 may be configured to gradually straighten optic fiber 250from an optic fiber in a first partially straightened position 910 to anoptic fiber in a second partially straightened position 920.Illustratively, a decompression of actuation structure 620 may beconfigured to gradually extend wire 240 relative to housing tube 200. Inone or more embodiments, a gradual extension of wire 240 relative tohousing tube 200 may be configured to cause wire 240 to reduce acompressive force applied to a portion of housing tube 200, e.g., afirst housing tube portion 220. Illustratively, a reduction of acompressive force applied to a portion of housing tube 200, e.g., afirst housing tube portion 220, may be configured to cause housing tube200 to gradually straighten. In one or more embodiments, a gradualstraightening of housing tube 200 may be configured to graduallystraighten optic fiber 250, e.g., from an optic fiber in a firstpartially straightened position 910 to an optic fiber in a secondpartially straightened position 920. Illustratively, a line tangent tooptic fiber distal end 251 may intersect a line tangent to housing tubeproximal end 202 at a second partially straightened angle, e.g., whenoptic fiber 250 comprises an optic fiber in a second partiallystraightened position 920. In one or more embodiments, the secondpartially straightened angle may comprise any angle less than the firstpartially straightened angle. For example, the second partiallystraightened angle may comprise a 90 degree angle.

FIG. 9D illustrates an optic fiber in a third partially straightenedposition 930. In one or more embodiments, a decompression of actuationstructure 620 may be configured to gradually straighten optic fiber 250from an optic fiber in a second partially straightened position 920 toan optic fiber in a third partially straightened position 930.Illustratively, a decompression of actuation structure 620 may beconfigured to gradually extend wire 240 relative to housing tube 200. Inone or more embodiments, a gradual extension of wire 240 relative tohousing tube 200 may be configured to cause wire 240 to reduce acompressive force applied to a portion of housing tube 200, e.g., afirst housing tube portion 220. Illustratively, a reduction of acompressive force applied to a portion of housing tube 200, e.g., afirst housing tube portion 220, may be configured to cause housing tube200 to gradually straighten. In one or more embodiments, a gradualstraightening of housing tube 200 may be configured to graduallystraighten optic fiber 250, e.g., from an optic fiber in a secondpartially straightened position 920 to an optic fiber in a thirdpartially straightened position 930. Illustratively, a line tangent tooptic fiber distal end 251 may intersect a line tangent to housing tubeproximal end 202 at a third partially straightened angle, e.g., whenoptic fiber 250 comprises an optic fiber in a third partiallystraightened position 930. In one or more embodiments, the thirdpartially straightened angle may comprise any angle less than the secondpartially straightened angle. For example, the third partiallystraightened angle may comprise a 45 degree angle.

FIG. 9E illustrates an optic fiber in a fully straightened position 940.In one or more embodiments, a decompression of actuation structure 620may be configured to gradually straighten optic fiber 250 from an opticfiber in a third partially straightened position 930 to an optic fiberin a fully straightened position 940. Illustratively, a decompression ofactuation structure 620 may be configured to gradually extend wire 240relative to housing tube 200. In one or more embodiments, a gradualextension of wire 240 relative to housing tube 200 may be configured tocause wire 240 to reduce a compressive force applied to a portion ofhousing tube 200, e.g., a first housing tube portion 220.Illustratively, a reduction of a compressive force applied to a portionof housing tube 200, e.g., a first housing tube portion 220, may beconfigured to cause housing tube 200 to gradually straighten. In one ormore embodiments, a gradual straightening of housing tube 200 may beconfigured to gradually straighten optic fiber 250, e.g., from an opticfiber in a third partially straightened position 930 to an optic fiberin a fully straightened position 940. Illustratively, a line tangent tooptic fiber distal end 251 may be parallel to a line tangent to housingtube proximal end 202, e.g., when optic fiber 250 comprises an opticfiber in a fully straightened position 940.

Illustratively, a surgeon may aim optic fiber distal end 251 at any of aplurality of targets within an eye, e.g., to perform a photocoagulationprocedure. In one or more embodiments, a surgeon may aim optic fiberdistal end 251 at any target within a particular transverse plane of theinner eye by, e.g., rotating handle 600 to orient housing tube 200 in anorientation configured to cause a curvature of housing tube 200 withinthe particular transverse plane of the inner eye and varying an amountof compression of actuation structure 620. Illustratively, a surgeon mayaim optic fiber distal end 251 at any target within a particularsagittal plane of the inner eye by, e.g., rotating handle 600 to orienthousing tube 200 in an orientation configured to cause a curvature ofhousing tube 200 within the particular sagittal plane of the inner eyeand varying an amount of compression of actuation structure 620. In oneor more embodiments, a surgeon may aim optic fiber distal end 251 at anytarget within a particular frontal plane of the inner eye by, e.g.,varying an amount of compression of actuation structure 620 to orient aline tangent to optic fiber distal end 251 wherein the line tangent tooptic fiber distal end 251 is within the particular frontal plane of theinner eye and rotating handle 600. Illustratively, a surgeon may aimoptic fiber distal end 251 at any target located outside of theparticular transverse plane, the particular sagittal plane, and theparticular frontal plane of the inner eye, e.g., by varying a rotationalorientation of handle 600 and varying an amount of compression ofactuation structure 620. In one or more embodiments, a surgeon may aimoptic fiber distal end 251 at any target of a plurality of targetswithin an eye, e.g., without increasing a length of a portion of asteerable laser probe within the eye. Illustratively, a surgeon may aimoptic fiber distal end 251 at any target of a plurality of targetswithin an eye, e.g., without decreasing a length of a portion of asteerable laser probe within the eye.

FIGS. 10A and 10B are schematic diagrams illustrating a handle 1000.FIG. 10A illustrates a top view of handle 1000. In one or moreembodiments, handle 1000 may comprise a handle distal end 1001, a handleproximal end 1002, a handle base 1010, an actuation structure 1020, ahousing tube platform 1030, and an actuation platform 1040.Illustratively, actuation platform 1040 may comprise an actuationplatform distal end 1041 and an actuation platform proximal end 1042. Inone or more embodiments, actuation structure 1020 may comprise aplurality of actuation arms 1025. Illustratively, each actuation arm1025 may comprise at least one extension mechanism 1026. In one or moreembodiments, each actuation arm 1025 may comprise an inverted actuationjoint 1027.

Illustratively, actuation structure 1020 may be compressed, e.g., by anapplication of a compressive force to actuation structure 1020. In oneor more embodiments, actuation structure 1020 may be compressed by anapplication of one or more compressive forces located at one or morelocations around an outer perimeter of actuation structure 1020.Illustratively, the one or more locations may comprise any of aplurality of locations around the outer perimeter of actuation structure1020. For example, a surgeon may compress actuation structure 1020,e.g., by squeezing actuation structure 1020. Illustratively, the surgeonmay compress actuation structure 1020 by squeezing actuation structure1020 at any particular location of a plurality of locations around anouter perimeter of actuation structure 1020. For example, a surgeon mayrotate handle 1000 and compress actuation structure 1020 from anyrotational position of a plurality of rotational positions of handle1000.

In one or more embodiments, actuation structure 1020 may be compressedby an application of a compressive force to any one or more of theplurality of actuation arms 1025. Illustratively, each actuation arm1025 may be configured to actuate independently. In one or moreembodiments, each actuation arm 1025 may be connected to one or more ofthe plurality of actuation arms 1025 wherein an actuation of aparticular actuation arm 1025 may be configured to actuate everyactuation arm 1025 of the plurality of actuation arms 1025. In one ormore embodiments, a compression of actuation structure 1020, e.g., dueto an application of a compressive force to a particular actuation arm1025, may be configured to actuate the particular actuation arm 1025.Illustratively, an actuation of the particular actuation arm 1025 may beconfigured to actuate every actuation arm 1025 of the plurality ofactuation arms 1025. In one or more embodiments, an application of acompressive force to a particular actuation arm 1025 may be configuredto extend at least one extension mechanism 1026 of the particularactuation arm 1025.

Illustratively, an application of a compressive force to a particularactuation arm 1025 may be configured to retract actuation platform 1040relative to handle base 1010. In one or more embodiments, as aparticular actuation arm 1025 is compressed, e.g., due to an applicationof a compressive force to the particular actuation arm 1025, an invertedactuation joint 1027 of the particular actuation arm 1025 may beconfigured to gradually retract actuation platform 1040 relative tohandle base 1010. Illustratively, inverted actuation joint 1027 may beconfigured to retract actuation platform 1040 relative to handle base1010, e.g., by transferring a compressive force applied to actuationstructure 1020 to a force applied to actuation platform distal end 1041.For example, when a compressive force is applied to a particularactuation arm 1025, e.g., and the particular actuation arm 1025 isextended by at least one extension mechanism 1026 of the particularactuation arm 1025, an inverted actuation joint 1027 of the particularactuation arm 1025 may be configured to retract actuation platform 1040relative to handle base 1010.

FIG. 10B illustrates a cross-sectional view of handle 1000. In one ormore embodiments, handle 1000 may comprise an actuation mechanismhousing 1045, an optic fiber housing 1050, an inner bore 1060, an innerbore proximal taper 1061, an inner bore distal chamber 1062, and anoptic fiber guide 1065. Handle 1000 may be manufactured from anysuitable material, e.g., polymers, metals, metal alloys, etc., or fromany combination of suitable materials.

FIG. 11 is a schematic diagram illustrating a housing tube 200.Illustratively, an optic fiber 250 may be disposed within housing tube200. In one or more embodiments, optic fiber 250 may be disposed withinhousing tube 200 wherein optic fiber distal end 251 is adjacent tohousing tube distal end 201. Illustratively, optic fiber 250 may bedisposed within housing tube 200 wherein optic fiber 250 may be adjacentto a portion of first housing tube portion 220. In one or moreembodiments, a portion of optic fiber 250 may be fixed to an innerportion of housing tube 200, e.g., by a biocompatible adhesive or by anysuitable fixation means.

FIG. 12 is a schematic diagram illustrating an exploded view of asteerable laser probe assembly 1200. In one or more embodiments, asteerable laser probe assembly 1200 may comprise a handle 1000; ahousing tube 200 having a housing tube distal end 201, a housing tubeproximal end 202, a first housing tube portion 220, and a second housingtube portion 230; an optic fiber 250 having an optic fiber distal end251 and an optic fiber proximal end 252; a light source interface 320;an actuation mechanism 1210; and an optic fiber sleeve 1220 having anoptic fiber sleeve distal end 1221 and an optic fiber sleeve proximalend 1222. Illustratively, light source interface 320 may be configuredto interface with optic fiber 250, e.g., at optic fiber proximal end252. In one or more embodiments, light source interface 320 may comprisea standard light source connecter, e.g., an SMA connector.

Illustratively, housing tube 200 may be fixed to housing tube platform1030, e.g., housing tube proximal end 202 may be fixed to housing tubeplatform 1030. In one or more embodiments, housing tube 200 may be fixedto housing tube platform 1030, e.g., by an adhesive or by any suitablefixation means. Illustratively, a portion of housing tube 200 may bedisposed within optic fiber guide 1065, e.g., housing tube proximal end202 may be disposed within optic fiber guide 1065. In one or moreembodiments, housing tube proximal end 202 may be fixed within opticfiber guide 1065, e.g., by an adhesive or by any suitable fixationmeans.

Illustratively, optic fiber 250 may be disposed within optic fibersleeve 1220. In one or more embodiments, a portion of optic fiber 250may be fixed to an inner portion of optic fiber sleeve 1220, e.g., by anadhesive or by any suitable fixation means. Illustratively, a portion ofoptic fiber 250 may be fixed within optic fiber sleeve 1220 wherein anactuation of optic fiber sleeve 1220 may be configured to actuate opticfiber 250. In one or more embodiments, a portion of optic fiber 250 maybe fixed within optic fiber sleeve 1220 wherein an actuation of opticfiber 250 may be configured to actuate optic fiber sleeve 1220.Illustratively, optic fiber sleeve 1220 may be configured to protect aportion of optic fiber 250. In one or more embodiments, optic fibersleeve 1220 may be configured to increase a stiffness of a portion ofoptic fiber 250. Illustratively, optic fiber sleeve 1220 may beconfigured to dissipate a force applied to optic fiber sleeve 1220,e.g., to prevent the applied force from damaging optic fiber 250. Opticfiber sleeve 1220 may be manufactured from any suitable material, e.g.,polymers, metals, metal alloys, etc., or from any combination ofsuitable materials.

Illustratively, optic fiber 250 may be disposed within inner bore 1060,inner bore distal chamber 1062, optic fiber housing 1050, optic fibersleeve 1220, optic fiber guide 1065, and housing tube 200. In one ormore embodiments, optic fiber sleeve 1220 may be disposed within opticfiber housing 1050, e.g., to protect a portion of optic fiber 250disposed within optic fiber housing 1050. Illustratively, optic fibersleeve 1220 may be configured to enclose a portion of optic fiber 250,e.g., a portion of optic fiber disposed within optic fiber housing 1050.In one or more embodiments, optic fiber 250 may be disposed withinhousing tube 200 wherein optic fiber distal end 251 is adjacent tohousing tube distal end 201. Illustratively, a portion of optic fiber250 may be fixed to an inner portion of housing tube 200, e.g., by anadhesive or by any suitable fixation means.

In one or more embodiments, a fixation of optic fiber sleeve 1220 in aposition relative to actuation platform 1040 may be configured to fixoptic fiber 250 in a position relative to actuation platform 1040.Illustratively, actuation mechanism 1210 may be disposed withinactuation mechanism housing 1045. In one or more embodiments, actuationmechanism 1210 may be configured to fix a portion of optic fiber sleeve1220 in a position relative to actuation platform 1040. Illustratively,a portion of actuation mechanism 1210 may be disposed within optic fiberhousing 1050. In one or more embodiments, actuation mechanism 1210 maycomprise a set screw configured to firmly fix optic fiber sleeve 1220 ina position relative to actuation platform 1040, e.g., by a press fit orany other suitable fixation means. Illustratively, a portion of opticfiber sleeve 1220 may be fixed to actuation mechanism 1210, e.g., by anadhesive or by any suitable fixation means.

In one or more embodiments, a compression of actuation structure 1020may be configured to actuate actuation platform 1040, e.g., towardshandle proximal end 1002 and away from handle distal end 1001.Illustratively, a compression of actuation structure 1020 may beconfigured to retract actuation platform 1040 relative to housing tube200. In one or more embodiments, a compression of actuation structure1020 may be configured to retract optic fiber 250 relative to housingtube 200, e.g., by refracting optic fiber sleeve 1220 relative tohousing tube 200. Illustratively, a refraction of optic fiber 250relative to housing tube 200 may be configured to apply a force to aportion of housing tube 200, e.g., first housing tube portion 220. Inone or more embodiments, an application of a force to a portion ofhousing tube 200 may be configured to compress a portion of housing tube200. Illustratively, a compression of a portion of housing tube 200 maybe configured to cause housing tube 200 to gradually curve. In one ormore embodiments, a gradual curving of housing tube 200 may beconfigured to gradually curve optic fiber 250.

In one or more embodiments, a decompression of actuation structure 1020may be configured to actuate actuation platform 1040, e.g., towardshandle distal end 1001 and away from handle proximal end 1002.Illustratively, a decompression of actuation structure 1020 may beconfigured to extend actuation platform 1040 relative to housing tube200. In one or more embodiments, a decompression of actuation structure1020 may be configured to extend optic fiber 250 relative to housingtube 200, e.g., by extending optic fiber sleeve 1220 relative to housingtube 200. Illustratively, an extension of optic fiber 250 relative tohousing tube 200 may be configured to reduce a force applied to aportion of housing tube 200, e.g., first housing tube portion 220. Inone or more embodiments, a reduction of a force applied to a portion ofhousing tube 200 may be configured to decompress a portion of housingtube 200. Illustratively, a decompression of a portion of housing tube200 may be configured to cause housing tube 200 to gradually straighten.In one or more embodiments, a gradual straightening of housing tube 200may be configured to gradually straighten optic fiber 250.

FIGS. 13A, 13B, 13C, 13D, and 13E illustrate a gradual curving of anoptic fiber 250. FIG. 13A illustrates a straight optic fiber 1300. Inone or more embodiments, optic fiber 250 may comprise a straight opticfiber 1300, e.g., when actuation platform 1040 is fully extendedrelative to handle base 1010. Illustratively, optic fiber 250 maycomprise a straight optic fiber 1300, e.g., when optic fiber 250 isfully extended relative to housing tube 200. In one or more embodiments,optic fiber 250 may comprise a straight optic fiber 1300, e.g., whenfirst housing tube portion 220 is fully decompressed. Illustratively,optic fiber 250 may comprise a straight optic fiber 1300, e.g., whenactuation structure 1020 is fully decompressed. In one or moreembodiments, a line tangent to optic fiber distal end 251 may beparallel to a line tangent to housing tube proximal end 202, e.g., whenoptic fiber 250 comprises a straight optic fiber 1300.

FIG. 13B illustrates an optic fiber in a first curved position 1310. Inone or more embodiments, a compression of actuation structure 1020 maybe configured to gradually curve optic fiber 250 from a straight opticfiber 1300 to an optic fiber in a first curved position 1310.Illustratively, a compression of actuation structure 1020 may beconfigured to gradually retract optic fiber 250 relative to housing tube200, e.g., by retracting optic fiber sleeve 1220 relative to housingtube 200. In one or more embodiments, a gradual retraction of opticfiber 250 relative to housing tube 200 may be configured to cause aportion of optic fiber 250 to apply a compressive force to a portion ofhousing tube 200, e.g., a first housing tube portion 220.Illustratively, an application of a compressive force to a portion ofhousing tube 200, e.g., a first housing tube portion 220, may beconfigured to cause housing tube 200 to gradually curve. In one or moreembodiments, a gradual curving of housing tube 200 may be configured togradually curve optic fiber 250, e.g., from a straight optic fiber 1300to an optic fiber in a first curved position 1310. Illustratively, aline tangent to optic fiber distal end 251 may intersect a line tangentto housing tube proximal end 202 at a first angle, e.g., when opticfiber 250 comprises an optic fiber in a first curved position 1310. Inone or more embodiments, the first angle may comprise any angle greaterthan zero degrees. For example, the first angle may comprise a 45 degreeangle.

FIG. 13C illustrates an optic fiber in a second curved position 1320. Inone or more embodiments, a compression of actuation structure 1020 maybe configured to gradually curve optic fiber 250 from an optic fiber ina first curved position 1310 to an optic fiber in a second curvedposition 1320. Illustratively, a compression of actuation structure 1020may be configured to gradually retract optic fiber 250 relative tohousing tube 200, e.g., by retracting optic fiber sleeve 1220 relativeto housing tube 200. In one or more embodiments, a gradual retraction ofoptic fiber 250 relative to housing tube 200 may be configured to causea portion of optic fiber 250 to apply a compressive force to a portionof housing tube 200, e.g., a first housing tube portion 220.Illustratively, an application of a compressive force to a portion ofhousing tube 200, e.g., a first housing tube portion 220, may beconfigured to cause housing tube 200 to gradually curve. In one or moreembodiments, a gradual curving of housing tube 200 may be configured togradually curve optic fiber 250, e.g., from an optic fiber in a firstcurved position 1310 to an optic fiber in a second curved position 1320.Illustratively, a line tangent to optic fiber distal end 251 mayintersect a line tangent to housing tube proximal end 202 at a secondangle, e.g., when optic fiber 250 comprises an optic fiber in a secondcurved position 1320. In one or more embodiments, the second angle maycomprise any angle greater than the first angle. For example, the secondangle may comprise a 90 degree angle.

FIG. 13D illustrates an optic fiber in a third curved position 1330. Inone or more embodiments, a compression of actuation structure 1020 maybe configured to gradually curve optic fiber 250 from an optic fiber ina second curved position 1320 to an optic fiber in a third curvedposition 1330. Illustratively, a compression of actuation structure 1020may be configured to gradually retract optic fiber 250 relative tohousing tube 200, e.g., by retracting optic fiber sleeve 1220 relativeto housing tube 200. In one or more embodiments, a gradual retraction ofoptic fiber 250 relative to housing tube 200 may be configured to causea portion of optic fiber 250 to apply a compressive force to a portionof housing tube 200, e.g., a first housing tube portion 220.Illustratively, an application of a compressive force to a portion ofhousing tube 200, e.g., a first housing tube portion 220, may beconfigured to cause housing tube 200 to gradually curve. In one or moreembodiments, a gradual curving of housing tube 200 may be configured togradually curve optic fiber 250, e.g., from an optic fiber in a secondcurved position 1320 to an optic fiber in a third curved position 1330.Illustratively, a line tangent to optic fiber distal end 251 mayintersect a line tangent to housing tube proximal end 202 at a thirdangle, e.g., when optic fiber 250 comprises an optic fiber in a thirdcurved position 1330. In one or more embodiments, the third angle maycomprise any angle greater than the second angle. For example, the thirdangle may comprise a 135 degree angle.

FIG. 13E illustrates an optic fiber in a fourth curved position 1340. Inone or more embodiments, a compression of actuation structure 1020 maybe configured to gradually curve optic fiber 250 from an optic fiber ina third curved position 1330 to an optic fiber in a fourth curvedposition 1340. Illustratively, a compression of actuation structure 1020may be configured to gradually retract optic fiber 250 relative tohousing tube 200, e.g., by retracting optic fiber sleeve 1220 relativeto housing tube 200. In one or more embodiments, a gradual retraction ofoptic fiber 250 relative to housing tube 200 may be configured to causea portion of optic fiber 250 to apply a compressive force to a portionof housing tube 200, e.g., a first housing tube portion 220.Illustratively, an application of a compressive force to a portion ofhousing tube 200, e.g., a first housing tube portion 220, may beconfigured to cause housing tube 200 to gradually curve. In one or moreembodiments, a gradual curving of housing tube 200 may be configured togradually curve optic fiber 250, e.g., from an optic fiber in a thirdcurved position 1330 to an optic fiber in a fourth curved position 1340.Illustratively, a line tangent to optic fiber distal end 251 may beparallel to a line tangent to housing tube proximal end 202, e.g., whenoptic fiber 250 comprises an optic fiber in a fourth curved position1340.

In one or more embodiments, one or more properties of a steerable laserprobe may be adjusted to attain one or more desired steerable laserprobe features. For example, a length that housing tube 200 extends fromhousing tube platform 1030 may be adjusted to vary an amount ofcompression of actuation structure 1020 configured to curve housing tube200 to a particular curved position. In one or more embodiments, astiffness of first housing tube portion 220 or a stiffness of secondhousing tube portion 230 may be adjusted to vary an amount ofcompression of actuation structure 1020 configured to curve housing tube200 to a particular curved position. Illustratively, a materialcomprising first housing tube portion 220 or a material comprisingsecond housing tube portion 230 may be adjusted to vary an amount ofcompression of actuation structure 1020 configured to curve housing tube200 to a particular curved position.

In one or more embodiments, a number of apertures in housing tube 200may be adjusted to vary an amount of compression of actuation structure1020 configured to curve housing tube 200 to a particular curvedposition. Illustratively, a location of one or more apertures in housingtube 200 may be adjusted to vary an amount of compression of actuationstructure 1020 configured to curve housing tube 200 to a particularcurved position. In one or more embodiments, a geometry of one or moreapertures in housing tube 200 may be adjusted to vary an amount ofcompression of action structure 1020 configured to curve housing tube200 to a particular curved position. Illustratively, a geometry of oneor more apertures in housing tube 200 may be uniform, e.g., eachaperture of the one or more apertures may have a same geometry. In oneor more embodiments, a geometry of one or more apertures in housing tube200 may be non-uniform, e.g., a first aperture in housing tube 200 mayhave a first geometry and a second aperture in housing tube 200 may havea second geometry.

Illustratively, a distance that housing tube platform 1030 extends fromhandle proximal end 1002 may be adjusted to vary an amount ofcompression of actuation structure 1020 configured to curve housing tube200 to a particular curved position. In one or more embodiments, ageometry of actuation structure 1020 may be adjusted to vary an amountof compression of actuation structure 1020 configured to curve housingtube 200 to a particular curved position. Illustratively, one or morelocations within housing tube 200 wherein optic fiber 250 may be fixedto an inner portion of housing tube 200 may be adjusted to vary anamount of compression of actuation structure 1020 configured to curvehousing tube 200 to a particular curved position. In one or moreembodiments, a length of optic fiber sleeve 1220 or a location of opticfiber sleeve 1220 may be adjusted to vary a portion of optic fiber 250enclosed within optic fiber sleeve 1220.

Illustratively, a stiffness of first housing tube portion 220 or astiffness of second housing tube portion 230 may be adjusted to vary abend radius of housing tube 200. In one or more embodiments, a stiffnessof first housing tube portion 220 or a stiffness of second housing tubeportion 230 may be adjusted to vary a radius of curvature of housingtube 200, e.g., when housing tube 200 is in a particular curvedposition. Illustratively, a number of apertures in housing tube 200 maybe adjusted to vary a bend radius of housing tube 200. In one or moreembodiments, a number of apertures in housing tube 200 may be adjustedto vary a radius of curvature of housing tube 200, e.g., when housingtube 200 is in a particular curved position. Illustratively, a locationor a geometry of one or more apertures in housing tube 200 may beadjusted to vary a bend radius of housing tube 200. In one or moreembodiments, a location or a geometry of one or more apertures inhousing tube 200 may be adjusted to vary a radius of curvature ofhousing tube 200, e.g., when housing tube 200 is in a particular curvedposition.

FIGS. 14A, 14B, 14C, 14D, and 14E illustrate a gradual straightening ofan optic fiber 250. FIG. 14A illustrates a fully curved optic fiber1400. In one or more embodiments, optic fiber 250 may comprise a fullycurved optic fiber 1400, e.g., when actuation platform 1040 is fullyretracted relative to handle base 1010. Illustratively, optic fiber 250may comprise a fully curved optic fiber 1400, e.g., when optic fiber 250is fully retracted relative to housing tube 200. In one or moreembodiments, optic fiber 250 may comprise a fully curved optic fiber1400, e.g., when first housing tube portion 220 is fully compressed.Illustratively, optic fiber 250 may comprise a fully curved optic fiber1400, e.g., when actuation structure 1020 is fully compressed. In one ormore embodiments, a line tangent to optic fiber distal end 251 may beparallel to a line tangent to housing tube proximal end 202, e.g., whenoptic fiber 250 comprises a fully curved optic fiber 1400.

FIG. 14B illustrates an optic fiber in a first partially straightenedposition 1410. In one or more embodiments, a decompression of actuationstructure 1020 may be configured to gradually straighten optic fiber 250from a fully curved optic fiber 1400 to an optic fiber in a firstpartially straightened position 1410. Illustratively, a decompression ofactuation structure 1020 may be configured to gradually extend opticfiber 250 relative to housing tube 200, e.g., by extending optic fibersleeve 1220 relative to housing tube 200. In one or more embodiments, agradual extension of optic fiber 250 relative to housing tube 200 may beconfigured to cause optic fiber 250 to reduce a compressive forceapplied to a portion of housing tube 200, e.g., a first housing tubeportion 220. Illustratively, a reduction of a compressive force appliedto a portion of housing tube 200, e.g., a first housing tube portion220, may be configured to cause housing tube 200 to graduallystraighten. In one or more embodiments, a gradual straightening ofhousing tube 200 may be configured to gradually straighten optic fiber250, e.g., from a fully curved optic fiber 1400 to an optic fiber in afirst partially straightened position 1410. Illustratively, a linetangent to optic fiber distal end 251 may intersect a line tangent tohousing tube proximal end 202 at a first partially straightened angle,e.g., when optic fiber 250 comprises an optic fiber in a first partiallystraightened position 1410. In one or more embodiments, the firstpartially straightened angle may comprise any angle less than 180degrees. For example, the first partially straightened angle maycomprise a 135 degree angle.

FIG. 14C illustrates an optic fiber in a second partially straightenedposition 1420. In one or more embodiments, a decompression of actuationstructure 1020 may be cons figured to gradually straighten optic fiber250 from an optic fiber in a first partially straightened position 1410to an optic fiber in a second partially straightened position 1420.Illustratively, a decompression of actuation structure 1020 may beconfigured to gradually extend optic fiber 250 relative to housing tube200, e.g., by extending optic fiber sleeve 1220 relative to housing tube200. In one or more embodiments, a gradual extension of optic fiber 250relative to housing tube 200 may be configured to cause optic fiber 250to reduce a compressive force applied to a portion of housing tube 200,e.g., a first housing tube portion 220. Illustratively, a reduction of acompressive force applied to a portion of housing tube 200, e.g., afirst housing tube portion 220, may be configured to cause housing tube200 to gradually straighten. In one or more embodiments, a gradualstraightening of housing tube 200 may be configured to graduallystraighten optic fiber 250, e.g., from an optic fiber in a firstpartially straightened position 1410 to an optic fiber in a secondpartially straightened position 1420. Illustratively, a line tangent tooptic fiber distal end 251 may intersect a line tangent to housing tubeproximal end 202 at a second partially straightened angle, e.g., whenoptic fiber 250 comprises an optic fiber in a second partiallystraightened position 1420. In one or more embodiments, the secondpartially straightened angle may comprise any angle less than the firstpartially straightened angle. For example, the second partiallystraightened angle may comprise a 90 degree angle.

FIG. 14D illustrates an optic fiber in a third partially straightenedposition 1430. In one or more embodiments, a decompression of actuationstructure 1020 may be configured to gradually straighten optic fiber 250from an optic fiber in a second partially straightened position 1420 toan optic fiber in a third partially straightened position 1430.Illustratively, a decompression of actuation structure 1020 may beconfigured to gradually extend optic fiber 250 relative to housing tube200, e.g., by extending optic fiber sleeve 1220 relative to housing tube200. In one or more embodiments, a gradual extension of optic fiber 250relative to housing tube 200 may be configured to cause optic fiber 250to reduce a compressive force applied to a portion of housing tube 200,e.g., a first housing tube portion 220. Illustratively, a reduction of acompressive force applied to a portion of housing tube 200, e.g., afirst housing tube portion 220, may be configured to cause housing tube200 to gradually straighten. In one or more embodiments, a gradualstraightening of housing tube 200 may be configured to graduallystraighten optic fiber 250, e.g., from an optic fiber in a secondpartially straightened position 1420 to an optic fiber in a thirdpartially straightened position 1430. Illustratively, a line tangent tooptic fiber distal end 251 may intersect a line tangent to housing tubeproximal end 202 at a third partially straightened angle, e.g., whenoptic fiber 250 comprises an optic fiber in a third partiallystraightened position 1430. In one or more embodiments, the thirdpartially straightened angle may comprise any angle less than the secondpartially straightened angle. For example, the third partiallystraightened angle may comprise a 45 degree angle.

FIG. 14E illustrates an optic fiber in a fully straightened position1440. In one or more embodiments, a decompression of actuation structure1020 may be configured to gradually straighten optic fiber 250 from anoptic fiber in a third partially straightened position 1430 to an opticfiber in a fully straightened position 1440. Illustratively, adecompression of actuation structure 1020 may be configured to graduallyextend optic fiber 250 relative to housing tube 200, e.g., by extendingoptic fiber sleeve 1220 relative to housing tube 200. In one or moreembodiments, a gradual extension of optic fiber 250 relative to housingtube 200 may be configured to cause optic fiber 250 to reduce acompressive force applied to a portion of housing tube 200, e.g., afirst housing tube portion 220. Illustratively, a reduction of acompressive force applied to a portion of housing tube 200, e.g., afirst housing tube portion 220, may be configured to cause housing tube200 to gradually straighten. In one or more embodiments, a gradualstraightening of housing tube 200 may be configured to graduallystraighten optic fiber 250, e.g., from an optic fiber in a thirdpartially straightened position 1430 to an optic fiber in a fullystraightened position 1440. Illustratively, a line tangent to opticfiber distal end 251 may be parallel to a line tangent to housing tubeproximal end 202, e.g., when optic fiber 250 comprises an optic fiber ina fully straightened position 1440.

Illustratively, a surgeon may aim optic fiber distal end 251 at any of aplurality of targets within an eye, e.g., to perform a photocoagulationprocedure. In one or more embodiments, a surgeon may aim optic fiberdistal end 251 at any target within a particular transverse plane of theinner eye by, e.g., rotating handle 1000 to orient housing tube 200 inan orientation configured to cause a curvature of housing tube 200within the particular transverse plane of the inner eye and varying anamount of compression of actuation structure 1020. Illustratively, asurgeon may aim optic fiber distal end 251 at any target within aparticular sagittal plane of the inner eye by, e.g., rotating handle1000 to orient housing tube 200 in an orientation configured to cause acurvature of housing tube 200 within the particular sagittal plane ofthe inner eye and varying an amount of compression of actuationstructure 1020. In one or more embodiments, a surgeon may aim opticfiber distal end 251 at any target within a particular frontal plane ofthe inner eye by, e.g., varying an amount of compression of actuationstructure 1020 to orient a line tangent to optic fiber distal end 251wherein the line tangent to optic fiber distal end 251 is within theparticular frontal plane of the inner eye and rotating handle 1000.Illustratively, a surgeon may aim optic fiber distal end 251 at anytarget located outside of the particular transverse plane, theparticular sagittal plane, and the particular frontal plane of the innereye, e.g., by varying a rotational orientation of handle 1000 andvarying an amount of compression of actuation structure 1020. In one ormore embodiments, a surgeon may aim optic fiber distal end 251 at anytarget of a plurality of targets within an eye, e.g., without increasinga length of a portion of a steerable laser probe within the eye.Illustratively, a surgeon may aim optic fiber distal end 251 at anytarget of a plurality of targets within an eye, e.g., without decreasinga length of a portion of a steerable laser probe within the eye.

The foregoing description has been directed to particular embodiments ofthis invention. It will be apparent; however, that other variations andmodifications may be made to the described embodiments, with theattainment of some or all of their advantages. Specifically, it shouldbe noted that the principles of the present invention may be implementedin any probe system. Furthermore, while this description has beenwritten in terms of a steerable laser probe, the teachings of thepresent invention are equally suitable to systems where thefunctionality of actuation may be employed. Therefore, it is the objectof the appended claims to cover all such variations and modifications ascome within the true spirit and scope of the invention.

What is claimed is:
 1. An instrument comprising: a handle having ahandle distal end and a handle proximal end; a handle base of thehandle; an actuation structure of the handle, the actuation structurehaving an actuation structure distal end, an actuation structureproximal end, and a plurality of actuation arms; an actuation ring ofthe handle having an actuation ring distal end and an actuation ringproximal end wherein the actuation ring proximal end is fixed to theactuation structure distal end and wherein a compression of theactuation structure is configured to extend the actuation ring relativeto the actuation structure proximal end; a housing tube platform of thehandle having a housing tube platform distal end and a housing tubeplatform proximal end; a platform base of the handle, the platform basedisposed between the actuation structure proximal end and the handledistal end; an actuation mechanism guide of the platform base; anactuation mechanism housing disposed in the actuation ring; an actuationmechanism disposed within the actuation mechanism housing wherein thecompression of the actuation structure is configured to actuate theactuation mechanism along the actuation mechanism guide away from thehandle proximal end and towards the handle distal end; a single housingtube having a housing tube distal end and a housing tube proximal end,the housing tube having dimensions configured to perform ophthalmicsurgical procedures wherein the housing tube proximal end is disposedwithin the housing tube platform and wherein the housing tube proximalend is fixed within the housing tube platform; a first housing tubeportion of the housing tube having a first stiffness; a plurality ofslits of the first housing tube portion; a second housing tube portionof the housing tube having a second stiffness wherein the secondstiffness is greater than the first stiffness; and an optic fiber havingan optic fiber distal end and an optic fiber proximal end, the opticfiber within an inner bore of the handle and the housing tube whereinthe optic fiber distal end is adjacent to the housing tube distal end.2. The instrument of claim 1 wherein a decompression of the actuationstructure is configured to gradually curve the optic fiber.
 3. Theinstrument of claim 2 wherein the decompression of the actuationstructure is configured to gradually curve the optic fiber at least 45degrees within an eye.
 4. The instrument of claim 1 wherein thecompression of the actuation structure is configured to graduallystraighten the optic fiber.
 5. The instrument of claim 4 wherein thecompression of the actuation structure is configured to graduallystraighten the optic fiber at least 45 degrees within an eye.
 6. Theinstrument of claim 1 further comprising: a wire having a wire distalend and a wire proximal end wherein the wire proximal end is fixed to aportion of the actuation ring and wherein the wire distal end is fixedwithin the housing tube.
 7. The instrument of claim 3 wherein thedecompression of the actuation structure is configured to graduallycurve the optic fiber at least 45 degrees within the eye withoutincreasing a length of the instrument within the eye.
 8. The instrumentof claim 3 wherein the decompression of the actuation structure isconfigured to gradually curve the optic fiber at least 45 degrees withinthe eye without decreasing a length of the instrument within the eye. 9.The instrument of claim 5 wherein the compression of the actuationstructure is configured to gradually straighten the optic fiber withinthe eye without increasing a length of the instrument within the eye.10. The instrument of claim 5 wherein the compression of the actuationstructure is configured to gradually straighten the optic fiber withinthe eye without decreasing a length of the instrument within the eye.11. The instrument of claim 1 wherein each slit of the plurality ofslits is configured to minimize a force of friction between the housingtube and a cannula.
 12. The instrument of claim 1 wherein each slit ofthe plurality of slits has at least one arch.
 13. The instrument ofclaim 6 wherein a decompression of the actuation structure is configuredto curve the optic fiber.
 14. The instrument of claim 6 wherein adecompression of the actuation structure is configured to curve thehousing tube.
 15. The instrument of claim 6 wherein a decompression ofthe actuation structure is configured to retract the wire relative tothe housing tube.
 16. The instrument of claim 6 wherein a decompressionof the actuation structure is configured to apply a compressive force toa portion of the housing tube.
 17. The instrument of claim 6 wherein thecompression of the actuation structure is configured to curve the opticfiber.
 18. The instrument of claim 6 wherein the compression of theactuation structure is configured to curve the housing tube.
 19. Theinstrument of claim 6 wherein the compression of the actuation structureis configured to extend the wire relative to the housing tube.
 20. Theinstrument of claim 6 wherein the compression of the actuation structureis configured to reduce a compressive force applied to a portion of thehousing tube.